压电执行器改进Bouc-Wen模型及其定位补偿控制研究  

Improved Bouc-Wen model of piezoelectric actuator and its positioning compensation control study

作　　者：周民瑞 周振华[1,2] 刘鑫[1,2] 曹太山[1,2] 李战慧[1,2] ZHOU Minrui;ZHOU Zhenhua;LIU Xin;CAO Taishan;LI Zhanhui(College of Automotive and Mechanical Engineering,Changsha University of Science and Technology,Changsha 410114,China;Key Laboratory of High Performance Intelligent Manufacturing of Machinery and Equipment in Hunan Province,Changsha University of Science and Technology,Changsha 410114,China)

机构地区：[1]长沙理工大学汽车与机械工程学院,长沙410114 [2]长沙理工大学机械装备高性能智能制造关键技术湖南省重点实验室,长沙410114

出　　处：《振动与冲击》2023年第10期155-164,共10页Journal of Vibration and Shock

基　　金：湖南省杰出青年科学基金(2021JJ10040);湖南省自然科学基金(2021JJ30731);湖南省教育厅优青项目(21B0353);长沙市自然科学基金(kq2014099)。

摘　　要：针对多数迟滞模型无法描述压电陶瓷执行器(piezoelectric actuator,PEA)的非对称、率相关迟滞非线性,提出一种改进Bouc-Wen(improved Bouc-Wen,IBW)模型并基于提出的IBW模型对其补偿控制进行试验研究。首先,基于传统Bouc-Wen(classical Bouc-Wen,CBW)迟滞模型引入两项非对称项并引入二阶IIR滤波器以精确描述压电陶瓷执行器的迟滞非线性,进一步分析了模型参数值与频率变化规律并修正率相关参数。然后,搭建基于NI CompactRIO测控系统压电陶瓷执行器精密定位试验平台,对提出的IBW模型进行了试验验证并基于IBW模型对其补偿控制进行了试验研究。试验结果表明:IBW模型性能显著优于传统Bouc-Wen模型和增强型Bouc-Wen(enhanced Bouc-Wen,EBW)模型,对于激励频率10~100 Hz多频正弦信号,IBW模型均方根误差相较于CBW模型和EBW模型分别下降了82.07%和62.10%,试验中压电陶瓷执行器实测最大输出位移6.15μm,基于IBW模型所提出复合补偿控制均方根误差为0.039μm,仅为最大输出位移的0.64%,最大跟踪误差仅为0.153μm。若忽略测量噪声,定位误差接近于零,说明所提出的IBW模型及其补偿控制算法有助于实现压电陶瓷执行器的高速、宽频超精密定位及主动振动控制。To address the asymmetric and frequency-dependent hysteresis nonlinearity of piezoelectric actuator(PEA) that can not be described by most hysteresis models,an improved Bouc-Wen(IBW) model was proposed and its compensation control was experimentally investigated based on the proposed IBW model.Firstly,based on the classical Bouc-Wen(CBW) hysteresis model,two asymmetric terms and a second-order IIR filter were introduced to accurately describe the hysteresis nonlinearity of the PEA,and the model parameters were further analyzed for the frequency variation law and the parameters were corrected to frequency-dependent.Then,based on NI CompactRIO measurement and control system,piezoelectric actuator precision positioning experimental platform was set up,and the proposed IBW model was experimentally verified and its compensation control was further experimentally studied based on the IBW model.The results show that the IBW model performs significantly better than the CBW and the enhanced Bouc-Wen(EBW) model.Compared with the CBW and EBW model,the root mean square error of the IBW model decreases by 82.07% and 62.10% for multi-frequency sinusoidal signals with excitation frequencies of 10-100 Hz,respectively.The maximum output displacement measured in the experiment is 6.15 μm,and the root mean square error of the proposed composite compensation control based on the IBW model is 0.039 μm,which is only 0.64% of the maximum output displacement.The maximum tracking error is only 0.153 μm,and the positioning error is close to zero if the measurement noise is ignored.It is shown that the proposed IBW model and its compensation control algorithm can help to realize high-speed,wide-frequency ultra-precision positioning and active vibration control of PEA.

关 键 词：压电陶瓷执行器(PEA) 动态非对称迟滞 改进Bouc-Wen(IBW)模型 迟滞补偿控制 

分 类 号：TP394.1[自动化与计算机技术—计算机应用技术] TH691.9[自动化与计算机技术—计算机科学与技术]